/** @file
 *    @brief MAVLink comm protocol testsuite generated from minimal.xml
 *    @see http://qgroundcontrol.org/mavlink/
 */
#pragma once
#ifndef MINIMAL_TESTSUITE_H
#define MINIMAL_TESTSUITE_H

#ifdef __cplusplus
extern "C" {
#endif

#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL

static void mavlink_test_minimal(uint8_t, uint8_t, mavlink_message_t *last_msg);

static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) {

    mavlink_test_minimal(system_id, component_id, last_msg);
}
#endif


static void
mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) {
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_HEARTBEAT >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    uint16_t i;
    mavlink_heartbeat_t packet_in = {
            963497464, 17, 84, 151, 218, 3
    };
    mavlink_heartbeat_t packet1, packet2;
    memset(&packet1, 0, sizeof(packet1));
    packet1.custom_mode = packet_in.custom_mode;
    packet1.type = packet_in.type;
    packet1.autopilot = packet_in.autopilot;
    packet1.base_mode = packet_in.base_mode;
    packet1.system_status = packet_in.system_status;
    packet1.mavlink_version = packet_in.mavlink_version;


#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
       // cope with extensions
       memset(MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN);
    }
#endif
    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_heartbeat_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_pack(system_id, component_id, &msg, packet1.type, packet1.autopilot,
                               packet1.base_mode, packet1.custom_mode, packet1.system_status);
    mavlink_msg_heartbeat_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg, packet1.type,
                                    packet1.autopilot, packet1.base_mode, packet1.custom_mode,
                                    packet1.system_status);
    mavlink_msg_heartbeat_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_to_send_buffer(buffer, &msg);
    for (i = 0; i < mavlink_msg_get_send_buffer_length(&msg); i++) {
        comm_send_ch(MAVLINK_COMM_0, buffer[i]);
    }
    mavlink_msg_heartbeat_decode(last_msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_send(MAVLINK_COMM_1, packet1.type, packet1.autopilot, packet1.base_mode,
                               packet1.custom_mode, packet1.system_status);
    mavlink_msg_heartbeat_decode(last_msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void
mavlink_test_minimal(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) {
    mavlink_test_heartbeat(system_id, component_id, last_msg);
}

#ifdef __cplusplus
}
#endif // __cplusplus
#endif // MINIMAL_TESTSUITE_H
